def run(self):
self.logger.debug("UDP Listener Started")
while True:
data, addr = self.incomingUDP_PSO.recvfrom(1024)
# Do not continue if we are closing connections
if self.closeConnections:
break
type = packets.read_packet_type(data)
if type == packets.DIAGNOSTICS_t:
self.status = packets.read_diagnostics_packet(data)[0]
self.logger.debug("Received status. Was: %d" % (self.status, ))
if type == packets.SYSINFO_t:
self.voltage = packets.read_sysinfo_packet(data)[0]
self.logger.debug("Received SysInfo packet, voltage = " % (self.voltage))
elif type == packets.POSE_t:
self.x, self.y, self.heading, self.x_var, self.y_var, self.heading_var = packets.read_pose_packet(data)
self.has_data.set()
self.logger.debug('X: %f Y: %f Heading: %f' % (self.x, self.y, self.heading))
self.OnUpdate()
